It is my pleasure to bring you the latest updates from the realms of ros_control.
These updates will become available after the next Kinetic sync.
* `joint_trajectory_controller`: Support for partial joint trajectories. No longer specifying full goal list if you only need to move a few of them! This in my opinion was a major setback for this controller, I'm glad it's out of the way now.
You can enable this behaviour by adding `allow_partial_joints_goal: true` to your `joint_trajectory_controller` configuration file.
I've done a test with PAL's TIAGo on ROS Kinetic that you can see [here](https://www.youtube.com/watch?v=57a70HYQTY0)
I see that we lack documentation therefore I'd like to ask all of you who may already have something to reach out and try to contribute that. Feel free to open a github issue or write to the ROS Control SIG mailing list. Thank you!
Big thumbs to [Shadow Robot](http://www.shadowrobot.com) who were our biggest contributors recently.
Thanks guys, you are awesome!